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The default snmpd.conf config file needs to be edited to allow certain OID's to be polled so it has to be changed to allow that.I attached a copy of the file with pretty much all of the settings you may need so on the remote server, replace the /etc/snmp/snmpd.conf file with the attached copy.Restart the snmpd daemon and test the command again.

Sorry, I forgot to mention this, the file I posted you have to use public as the community string and it is also setup to only use SNMP version 2 so you will have to add a -2 to the command and change the community string.Try this example

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